#ifndef  __pid_H_
#define  __pid_H_

#include "common.h"
#include "pid.h"


 
typedef struct PIdStruct
{
float SetSpeed;
float ActualSpeed; 

float Err;
float Errr_last;
float Errr_last2;
 
float OutSpeed;

float Kp;
float Ki;
float Kd;


float IncrementSpeed;    

}pid_struct;

void  set_pid_speed(void);
void pid_init(void);

extern pid_struct pid_left;
extern pid_struct pid_right;


#endif


